#include <KinematicChainVisualizer.h>

Inheritance diagram for Visualization::KinematicChainVisualizer:

Public Member Functions
	KinematicChainVisualizer ()

void	publishLink (boost::shared_ptr< ros::Publisher > pPublisher, unsigned int &pMarkerId, const Eigen::Vector3d pFrom, const Eigen::Vector3d pTo, double pQualityOfMatch)

void	publishObjectPositionAsArrow (boost::shared_ptr< ros::Publisher > pPublisher, unsigned int &pMarkerId, const boost::shared_ptr< ISM::Pose > pPose, double pQualityOfMatch)

void	publishObjectPositionAsPoint (boost::shared_ptr< ros::Publisher > pPublisher, unsigned int &pMarkerId, const boost::shared_ptr< ISM::Pose > pPose)

void	publishObjectPositionAsPointWithScore (boost::shared_ptr< ros::Publisher > pPublisher, unsigned int &pMarkerId, const boost::shared_ptr< ISM::Pose > pPose, std::vector< double > pScores, double pQualityOfMatch)

void	setBestStatus (bool pStatus)

	~KinematicChainVisualizer ()

Public Member Functions inherited from Visualization::AbstractExtendedVisualizer
	AbstractExtendedVisualizer ()

void	setColors (const std_msgs::ColorRGBA &pFirstColor, const std_msgs::ColorRGBA &pSecondColor, const std_msgs::ColorRGBA &pThirdColor)

void	setScaleFactor (const double pScaleFactor)

virtual	~AbstractExtendedVisualizer ()

Public Member Functions inherited from Visualization::AbstractVisualizer
	AbstractVisualizer ()

void	setFrameId (std::string pFrameId)

void	setNamespace (std::string pNamespace)

virtual	~AbstractVisualizer ()

Private Member Functions
visualization_msgs::Marker	generateArrowMessage (unsigned int &pMarkerId, const Eigen::Vector3d pFrom, const Eigen::Vector3d pTo, double pQualityOfMatch, double pScalePeak, double pScaleShaft, double pPeakLength)

visualization_msgs::Marker	generatePerpendicularArrowMessage (unsigned int &pMarkerId, const boost::shared_ptr< ISM::Pose > pPose, double pQualityOfMatch, double pLength)

visualization_msgs::Marker	generatePointMessage (unsigned int &pMarkerId, const Eigen::Vector3d pPosition)

visualization_msgs::Marker	generateTermIndicatorMessage (unsigned int &pMarkerId, const boost::shared_ptr< ISM::Pose > pPose, double pOffset, double pScore)

Private Attributes
bool	mBestStatus

Additional Inherited Members
Protected Member Functions inherited from Visualization::AbstractExtendedVisualizer
const std_msgs::ColorRGBA	getColor (unsigned int pNumber)

double	getScaleFactor ()

Protected Member Functions inherited from Visualization::AbstractVisualizer
std::string	getFrameId ()

std::string	getNamespace ()

Detailed Description

Visualizer class for the best recognition result.

Author: Joachim Gehrung

Version: See SVN

Definition at line 48 of file KinematicChainVisualizer.h.

Constructor & Destructor Documentation

Visualization::KinematicChainVisualizer::KinematicChainVisualizer ( )

Constructor.

Definition at line 22 of file KinematicChainVisualizer.cpp.

Visualization::KinematicChainVisualizer::~KinematicChainVisualizer ( )

Destructor.

Definition at line 27 of file KinematicChainVisualizer.cpp.

Member Function Documentation

visualization_msgs::Marker Visualization::KinematicChainVisualizer::generateArrowMessage	(	unsigned int &	pMarkerId,
		const Eigen::Vector3d	pFrom,
		const Eigen::Vector3d	pTo,
		double	pQualityOfMatch,
		double	pScalePeak,
		double	pScaleShaft,
		double	pPeakLength
	)

private

Generates an arrow between two points. The color is determined by the pQualityOfMatch parameter where green is a perfect match and red no match at all.

Parameters

pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pFrom	The position to start the link from.
pTo	The position to end the link.
pQualityOfMatch	Indicator for the quality of match between the objects shall pose and is pose.
pScalePeak	The scale of the peak part of the arrow.
pScaleShaft	The scale of the shaft.
pPeakLength	The length of the peak.

Definition at line 163 of file KinematicChainVisualizer.cpp.

visualization_msgs::Marker Visualization::KinematicChainVisualizer::generatePerpendicularArrowMessage	(	unsigned int &	pMarkerId,
		const boost::shared_ptr< ISM::Pose >	pPose,
		double	pQualityOfMatch,
		double	pLength
	)

private

Generates an arrow that points from top to bottom right onto the given position. The color is determined by the pQualityOfMatch parameter where green is a perfect match and red no match at all.

Parameters

pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pPose	The point to point to.
pQualityOfMatch	Indicator for the quality of match between the objects shall pose and is pose.
pLength	The length of the arrow.

Definition at line 220 of file KinematicChainVisualizer.cpp.

visualization_msgs::Marker Visualization::KinematicChainVisualizer::generatePointMessage	(	unsigned int &	pMarkerId,
		const Eigen::Vector3d	pPosition
	)

private

Generates the visualization message that contains a point right at the given position.

Parameters

pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pPosition	The position of the object.

Returns: A marker array holding the visualization messages.

Definition at line 118 of file KinematicChainVisualizer.cpp.

visualization_msgs::Marker Visualization::KinematicChainVisualizer::generateTermIndicatorMessage	(	unsigned int &	pMarkerId,
		const boost::shared_ptr< ISM::Pose >	pPose,
		double	pOffset,
		double	pScore
	)

private

Generates a vertical chain of spheres that are colored depending on the given term scores.

Parameters

pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pPose	The point to start the chain from.
pOffset	The vertical offset to the given position.
pScores	A vector holding the scores of the single terms.
pLength	The length of the chain.

Definition at line 245 of file KinematicChainVisualizer.cpp.

void Visualization::KinematicChainVisualizer::publishLink	(	boost::shared_ptr< ros::Publisher >	pPublisher,
		unsigned int &	pMarkerId,
		const Eigen::Vector3d	pFrom,
		const Eigen::Vector3d	pTo,
		double	pQualityOfMatch
	)

Publishes a link between two objects. The color is determined by the pQualityOfMatch parameter where green is a perfect match and red no match at all.

Parameters

pPublisher	For publishing the visualization message.
pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pFrom	The position to start the link from.
pTo	The position to end the link.
pQualityOfMatch	Indicator for the quality of match between the objects shall pose and is pose.

Definition at line 94 of file KinematicChainVisualizer.cpp.

void Visualization::KinematicChainVisualizer::publishObjectPositionAsArrow	(	boost::shared_ptr< ros::Publisher >	pPublisher,
		unsigned int &	pMarkerId,
		const boost::shared_ptr< ISM::Pose >	pPose,
		double	pQualityOfMatch
	)

Publishes an arrow that points from top to bottom right onto the given position.

Parameters

pPublisher	For publishing the visualization message.
pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pPose	The pose of the object.
pQualityOfMatch	Indicator for the quality of match between the objects shall pose and is pose.

Definition at line 31 of file KinematicChainVisualizer.cpp.

void Visualization::KinematicChainVisualizer::publishObjectPositionAsPoint	(	boost::shared_ptr< ros::Publisher >	pPublisher,
		unsigned int &	pMarkerId,
		const boost::shared_ptr< ISM::Pose >	pPose
	)

Publishes a point right at the given position.

Parameters

pPublisher	For publishing the visualization message.
pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pPose	The pose of the object.

Definition at line 49 of file KinematicChainVisualizer.cpp.

void Visualization::KinematicChainVisualizer::publishObjectPositionAsPointWithScore	(	boost::shared_ptr< ros::Publisher >	pPublisher,
		unsigned int &	pMarkerId,
		const boost::shared_ptr< ISM::Pose >	pPose,
		std::vector< double >	pScores,
		double	pQualityOfMatch
	)

Publishes a point right at the given position and an arrow standing for the score.

Parameters

pPublisher	For publishing the visualization message.
pMarkerId	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pPose	The pose of the object.
pScores	A vector holding the scores of the single terms.
pQualityOfMatch	Indicator for the quality of match between the objects shall pose and is pose.